Commit e4bf8333 authored by Lorenz Meier's avatar Lorenz Meier
Browse files

Worlds: Reduce requirements on physics engine trading for speed

parent 289b7231
......@@ -12,5 +12,26 @@
<include>
<uri>model://cessna</uri>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.002</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>500</real_time_update_rate>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
</physics>
</world>
</sdf>
\ No newline at end of file
......@@ -12,5 +12,29 @@
<include>
<uri>model://iris</uri>
</include>
<include>
<uri>model://asphalt_plane</uri>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.003125</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>320</real_time_update_rate>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
</physics>
</world>
</sdf>
......@@ -15,5 +15,26 @@
<include>
<uri>model://iris_opt_flow</uri>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.003125</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>320</real_time_update_rate>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
</physics>
</world>
</sdf>
......@@ -12,5 +12,26 @@
<include>
<uri>model://standard_vtol</uri>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.003125</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>320</real_time_update_rate>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
</physics>
</world>
</sdf>
\ No newline at end of file
......@@ -12,5 +12,26 @@
<include>
<uri>model://tailsitter</uri>
</include>
<physics name='default_physics' default='0' type='ode'>
<gravity>0 0 -9.8066</gravity>
<ode>
<solver>
<type>quick</type>
<iters>10</iters>
<sor>1.3</sor>
<use_dynamic_moi_rescaling>0</use_dynamic_moi_rescaling>
</solver>
<constraints>
<cfm>0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
<max_step_size>0.003125</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>320</real_time_update_rate>
<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
</physics>
</world>
</sdf>
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